CN106660705A - Picking system and picking method - Google Patents
Picking system and picking method Download PDFInfo
- Publication number
- CN106660705A CN106660705A CN201580043925.7A CN201580043925A CN106660705A CN 106660705 A CN106660705 A CN 106660705A CN 201580043925 A CN201580043925 A CN 201580043925A CN 106660705 A CN106660705 A CN 106660705A
- Authority
- CN
- China
- Prior art keywords
- mentioned
- sorting
- container
- commodity
- transport carriage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0428—Transfer means for the stacker crane between the alleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0457—Storage devices mechanical with suspended load carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The purpose of the invention is to efficiently transport a product to a picking unit and shipping area along a travel route that freely branches and converges by causing a single type of transport car to travel. A picking system comprises a transport car that travels along a travel route that freely branches and converges, a plurality of racks, a plurality of picking units, a shipping area, and a controller that controls the transport car. In addition, the picking unit is provided with a loading station to which the transport car carries a container, and an unloading station from which the transport car carries the containers and the picked products. The transport car transports a container accommodating a product that is ordered to the loading station from the racks, transports the product that has been picked to the shipping area, and transports the container after the product has been picked to the racks.
Description
Technical field
The present invention relates to sorting system and method for sorting.
Background technology
In the case where marginally commodity are sorted respectively according to the requirement of customer from various commodity, staff is with pushing away
Car (cart) is maked an inspection tour in warehouse, is carried out sorting commodity from shelf according to the display of go-cart screen.In this case, staff
Very long distance is walked from the shelf for there are commodity to next shelf.
As sorting system, it is understood that track mounted jumbo to be connected to the automatic storehouse being made up of stakcer crane and support
Storehouse, will be equipped with the system that the container of commodity is transported from track mounted jumbo to sorting area.And know off-sorting station using conveyer
The technology that domain couples together with delivery region.In this case, if the species of commodity is more, substantial amounts of support is needed, it is necessary to
Increase the quantity and the quantity of track mounted jumbo of the passage of stakcer crane.Also, because stakcer crane can only be in a passage
In back and forth travel, even therefore to one delivery destination sorting, it is also desirable to multiple stage stakcer crane travel.
Here the prior art of correlation is described.Patent documentation 1 (JPS63-242809A) is proposed using overhead crane in work
The scheme of article is transported between the region of stocking up of factory, multiple supports in parts warehouse and assembly line.Also, patent documentation 1
In branch and fluidic junction are set in the driving path of overhead crane, enable overhead crane to come in and go out multiple supports.But, specially
Sharp document 1 is not studied for sorting.
Prior art literature
Patent documentation
Patent documentation 1：JPS63-242809A
The content of the invention
The invention technical problem to be solved
The problem of the present invention is sought to by making a kind of transport carriage along can freely branch and the driving path that converges
Travel expeditiously can transport the sorting system and method for sorting of commodity to provide to sorting unit and delivery region.
For solving the means of technical problem
The present invention is a kind of system for sorting commodity according to order, the multiple containers from keeping on support, has：
Along can freely branch and converge driving path traveling transport carriage,
Along multiple supports that driving path is arranged,
Arrange along driving path, and station and transport carriage are moved into goods with what transport carriage was moved into container
The multiple sorting units for taking out of station that case and the commodity for having sorted are taken out of,
Along the delivery region that the periphery of driving path is arranged, and
Control transport carriage make storage have the container of order commodity from support to move into station conveyance, make the good commodity of sorting to
The conveyance of delivery region, make the controller that the container after sorting commodity transports to support.
Also, in the method for sorting of the present invention, using multiple containers sorting business of the sorting system from keeping on support
Product, sorting system possesses：
Along can freely branch and converge driving path traveling transport carriage,
Along multiple supports that driving path is arranged,
Arrange along driving path, and station and transport carriage are moved into goods with what transport carriage was moved into container
The multiple sorting units for taking out of station that case and the commodity for having sorted are taken out of,
Along the delivery region that the periphery of driving path is arranged, and
The controller of control transport carriage；
Further, the method performs following steps：
Transport carriage is controlled using controller, storage is had into the container of order commodity from support to the step for moving into station conveyance
Suddenly,
By sorting unit from container order sorting commodity the step of, and
Transport carriage is controlled using controller, the commodity for having sorted are transported, will sort the goods after commodity to delivery region
Case to support transport the step of.
Travel for example multiple stage transport carriage in the present invention, the station of moving into by container from support to sorting unit is moved into.Remove
Enter relief area of the station as container, staff is waited by sorting unit sorting commodity, using transport carriage by the goods after sorting
Case and commodity take out of from station is taken out of.Therefore, container transport carriage is to staff side carrying-in/carrying-out, staff attentively from
Container sorting commodity just can be with, it is not necessary that moves to the shelf of commodity.
Due to freely can travelling on branch and the driving path that converges, therefore transport carriage can come in and go out broad range
Support, and conveyance from from support to sorting unit can be carried out and from sorting unit to the conveyance of delivery region and support.Cause
This just can be with a kind of transport carriage, it is not necessary that arranges stakcer crane and track mounted jumbo, vertical conveyer, long belt conveyor
Etc. various carrying devices.By arranging delivery region along the periphery of driving path, make to become easy to the delivery such as truck, deliver
Region is preferably provided at ground floor.
In this manual, sorting refers to that commodity are taken out from stock article is delivered, and the record about sorting system is former
Envelope is fixedly applied to method for sorting.Also, will be provided with the region of multiple sorting units and be referred to as sorting area, it is not limited to OK
The periphery in path is sailed, sorting area can also be set in inner circumferential.Also, represent in front and back along before the travel direction of transport carriage
Afterwards, left and right is represented centered on travel direction in the left and right of its both sides.
Be additionally provided with region of stocking up preferably along the periphery of driving path, with control transport carriage by container from stock up region to
The mode of support conveyance constitutes controller.Compared with situation about being stocked up by sorting unit, by arranging in addition into goods area
Domain, is prevented from commodity and concentrates to sorting unit.By arranging region of stocking up along the periphery of driving path, enter from mover etc.
Goods becomes easy, and region of stocking up is preferably provided at ground floor.
It is preferred that controller by store each container vacate region in the way of constituted, and sorting unit is provided with sorting
The input unit for vacating region afterwards.Region is vacated after due to input sorting, therefore, it is possible to manage exactly region is vacated.And
And, region is vacated by management, can easily manage how many commodity can be added to which container.
The region of storage commodity is particularly preferably provided with container in the way of it can move freely and is vacated between region
Dividing plate, button by such as 5 grades etc., be input into being input into the position of dividing plate vacate region by way of constituted and vacated region
Input unit.If so, can quickly and accurately be input into that region is vacated, and using dividing plate compartmentalized cargo boxes, therefore with
The situation that commodity are dispersed in whole container is compared, and taking out commodity becomes easy.
It is preferred that driving path is made up of the track at the top of the building for being arranged on sorting system.In the conveyance of top traveling
Car is made up of following part：Along rail running and with drive hang holding member elevator chassis, with vertically to
Lowerly on chassis for example before and after a column, and by column guiding, by hang holding member lifting and have
There is the lifting platform of shifting apparatus.If not the stakcer crane of ground traveling, but from the chassis suspention column of top traveling,
As long as then chassis can support carry out the vertical load of Self-stabilised post etc. just can be with, therefore become lightweight carrying device.Pass through
Lifting platform is guided with column, lifting platform can be suppressed to rock, the shifting apparatus such as sliding york can be carried.
Particularly preferably possess shifting apparatus on lifting platform, being placed in the vertical direction polylith can freely load the flat of container
Plate.If so, can unify to transport multiple containers, enable in particular to transport multiple containers to a sorting unit unification.If
Flat board is vertically stacked, then can shorten the length of transport carriage, branch becomes easy with converging.
Preferably along the travel direction of transport carriage multiple stage is arranged in parallel with from sorting unit reception in the central part of lifting platform
The commodity for having sorted move into conveyer, and are provided with container before and after conveyer is moved into moving into the shifting that station is moved into
Carry and put and by container from the shifting apparatus for taking out of station taking-up；
Sorting unit is also equipped with：
Possess the workbench from the container conveyance conveyer for moving into station conveyance container,
It is arranged on the driving path side of workbench and by the commodity for having sorted to moving into multiple stage that conveyer takes out of simultaneously
Row take out of conveyer, and
Positioned at the mounting space of the container of the outlet side of the conveyer of container conveyance；
Take out of conveyer and mounting space constitutes and takes out of station.
In this example, move into container from lifting platform to station is moved into, sorting unit workbench to for example each sorting
Destination takes out of conveyer sorting commodity.And conveyer transfer commodity are moved into lifting platform from conveyer is taken out of, will be divided
The container for having picked takes out of from sorting unit to the shifting apparatus of lifting platform.If so, can easily to multiple sorting purposes
Ground sorting commodity.
Description of the drawings
Fig. 1 is the top view of the layout of the sorting system for representing embodiment；
Fig. 2 is to represent automated warehouse, the sorting area of its periphery, the configuration in stock up region and delivery region in embodiment
Top view；
Fig. 3 is the side view of the sorting system of embodiment；
Fig. 4 is the figure of the extension of the sorting system for showing schematically embodiment；
Fig. 5 is the front view for representing bridge-type transport carriage and left and right support in embodiment；
Fig. 6 is the front view of the amplifier section of Fig. 5；
Fig. 7 is the top view for representing the 2 kinds of bridge-type transport carriages travelled on common track in embodiment；
Fig. 8 is the top view for keeping out of the way passage and maintenance platform of the bridge-type transport carriage in embodiment；
Fig. 9 is the figure of the lifting platform for representing the bridge-type transport carriage in embodiment；
Figure 10 is with moving into station, take out of station and the top view of the sorting unit of workbench in embodiment；
Figure 11 is the block diagram of the control system for representing embodiment；
Figure 12 is the flow chart for representing the sorting algorithm in embodiment；
Figure 13 is the lifting platform and the top view of sorting unit for representing the bridge-type transport carriage in variation.
Specific embodiment
It is set forth below for implementing the preferred embodiments of the present invention.The scope of the present invention should be according to the scope of claim
Record, the record of reference explanation book and technology well known in the art, determine according to the understanding of those skilled in the art.
Embodiment
Fig. 1～Figure 13 represents the sorting system 2 of embodiment and its deformation.Fig. 1 represents the layout of sorting system 2, and 4 is automatic
Warehouse, arranges top rail 6 at the top of it, possesses multiple branch's fluidic junctions 8,9, and bridge-type transport carriage 10 is travelled.Top rail (with
Lower abbreviation " track ") 6 can allow to be travelled to twocouese, but overhead crane 10 is only travelled in one direction in embodiment.Branch
Fluidic junction 8 to carry out branch and the interval converged, bridge-type transport carriage 10 can self-contr ol be branch or advance forward always
(in the case of branch) or it is to advance forward always or converge (situation about converging).Track 6 is in branch's fluidic junction 8
Structure using for example with well-known bridge type crane system identical structure.In addition, branch's fluidic junction 9 is to be set with short interval
The part of 2 branch's fluidic junctions is put.It is bypass passageways to arrange multiple supports 20,7 towards track 6, both can be not provided with, and also may be used
To use as passage of keeping out of the way described later.12 is the passage for leading to sorting area 22, and 14 is the passage for leading to region 26 of stocking up.
In the case of being not provided with bypass passageways 7, will be connected with passage 12,14 towards the track 6 of support 20 by branch's fluidic junction 9.
Sorting area 22, delivery region 24 and region 26 of stocking up are set in such as four corners of automated warehouse 4, at these
In region, deliver region 24 and region 26 of stocking up are arranged on the most peripheral side of such as ground floor and running rail 6, make truck
Deng turnover easily, sorting area 22 is for example arranged across multilamellar.30 is the controller of sorting system 2, both can be by 1 calculating
Mechanism into, it is also possible to multiple stage computers are distributed to constitute.
Fig. 2, Fig. 3 represent the configuration of the sorting area 22, delivery region 24 and region 26 of stocking up of automated warehouse 4 and surrounding.
For bridge-type transport carriage 10, maximum conveyance destination is sorting area 22, and delivery region 24 is taken second place, a small amount of in multi items
Sorting system 2 in, the computed carrier amount in region 26 of stocking up is minimum.Therefore, according to the computed carrier amount of bridge-type transport carriage 10 and in each region
22nd, the floor space of the determining area such as 24,26 workload 22,24,26.
Sorting system 2 can extend successively, by this state representation in Fig. 4.In the diagram, labelling ＇ represents the group after extension
Into part, it is same kind of ingredient that numeral 22 in 22,22 ＇ etc. is represented.For example by sorting system that the upper figure of Fig. 4 is initial
System 2 extends, and becomes the ＇ of sorting system 2 of middle figure.Now, the passage 12 of sorting area 22 and Fig. 1 both can be removed, it is also possible to no
Remove, by setting up track 6 and support 20 etc. the ＇ of automated warehouse 4 is become.If being set up again as figure below of Fig. 4, become
The ＇ ＇ of automated warehouse 4.There is motility in embodiment in layout, set up also easy.
Fig. 5, Fig. 6 represent the structure of bridge-type transport carriage (hereinafter referred to as " transport carriage ") 10.Track 6 is fixed on self-supporting support
The top 21 of 20 building, permanent magnet 50 is arranged in track 6 along the travel direction of transport carriage 10.Transport carriage 10 possesses
Multiple travel units 51, from contactless power supply device (not shown) etc. electric power is obtained, using the coil unit in travel unit 51
52 and the side of track 6 permanent magnet 50 constitute linear motor.
53 step on tread for track 6, support wheel 54, and travel unit 51 possesses guide roll 55, by being arranged on track 6
Guide rail 56 is guided.Multiple travel units 51 are by rotatable 57 carriers 58 of axle freely.It is arranged on carrier 58 or traveling is single
Switch unit 67 in unit 51 is by lifting guide roll 55 or left-right rotation is switching the contact with guide rail 56.Thus control is removed
The branches of Song Che 10 advance forward always.In addition, the chassis of carrier 58 and travel unit 51 for bridge-type transport carriage 10.Carrier 58
Drive chain of elevator 59 etc. hangs holding member 60, lifting platform 62 is lifted along column 66, and the counterweight of lifting platform 62 is received
Hold in such as column 66.27 is the pillar of support 20, and 28 to separate opening, and 29 is shelf stands.
For example, with bearing pin by a Qian Hou column 66 along travel direction so that carrier 58 can be suspended in the way of free inclination
On.Also, guide roll 64 is guided with column 66, rocking, twisting for lifting platform 62 is limited, 1 is equipped with lifting platform 62
To shifting apparatus 68 such as multiple sliding yorks.In front and back for example horizontal connection member 72 in the lower end of a column 66 connects, connecting portion
Part 72 possesses guide roll (not shown), is guided by the guide rail 70 being arranged on the above ground portion of building.Column 66 can be along row
Sail direction to freely swing, entering to control travel unit 51 by way of not carrying out acceleration and deceleration near its eigentone
Row vibration damping.Also, vibroshock (not shown), vibration isolation rubber etc. are set to the installation portion of carrier 58 in column 66, reduction promptly stops
Rocking when only.In addition, can both be not connected to before and after column 66,66, guide rail 70 of bottom etc. can also be not provided with, conversely,
Traveling wheel can be arranged in connection member 72 to support a part for deadweight.In addition, the radical of column 66, structure etc. are any
's.
Sorting system 2 will process container, the container of delivery, the container of big commodity and the petty dealer of commodity custody sometimes
The different container of the container equidimension of product.In order to tackle such case, the different various transport carriages 10 of size, 10 ＇ can be made
Travel along common track 6.By this state representation in the figure 7.Transport carriage 10 possesses and for example have 4 travel units 51
Big carrier 58, large lift platform 62 and big shifting apparatus 68, the ＇ of transport carriage 10 possesses the little carrier for example with 2 travel units 51
58 ＇, the ＇ of little lifting platform 62 and the ＇ of little shifting apparatus 68.In the figure 7, the depth of the ＇ of lifting platform 62 is made (relative to the right and left of track 6
To width) it is less than the depth of lifting platform 62, but it is also possible to make them equal.By the transport carriage 10, the 10 ＇ edges that make size different
Same track 6 to travel, can expeditiously transport the different container of size, while also increase transport carriage 10,10 ＇ can move
Dynamic scope.
There is no need to make all of transport carriage 10 run all the time.If as shown in figure 8, using the grade of bypass passageways 7 of Fig. 1 as moving back
Keep away passage 80, keep out of the way the transport carriage 10 do not run, then can reduce consumption electric power.And if arrange keeping out of the way in passage 80
Maintenance platform 81, the then maintenance of lifting platform 62 and carrier 58 etc. becomes easy.
Sorting system 2 in most cases transports lightweight container.Therefore preference divides as shown in Figure 9 on lifting platform 62
Polylith flat board 92 stacked on top of one another, arranges shifting apparatus 68 on each flat board 92, can simultaneously transport multiple containers 94,95.In addition,
Similarly divide polylith flat board stacked on top of one another on the ＇ of little lifting platform 62 of Fig. 7.It is of course also possible to only use one layer as in the past
(only one layer flat board 92) lifting platform.
Figure 10 represents sorting unit 100, be configured with where multiple sorting units 100 be exactly Fig. 1 etc. sorting area 22.
The container 94 that storage has commodity is moved into using transport carriage from the station 101 of moving into of the side of track 6, using conveyer Jing (not shown)
Transported from relief area 101b to sorting workbench 104.Possess the grade Id readers of barcode reader 106, end on workbench 104
End 108 and label machine 112, staff is according to the display of the display 109 of terminal 108 from container 94 to paper housing box etc.
The delivery sorting commodity of container 95.Terminal 108 and label machine 112 both can be one, it is also possible to from multiple containers 94 to
Individual delivery container 95 is sorted, or is sorted to multiple delivery containers 95 from a container 94.
After sorting, staff make the dividing plate 96 of container 94 with vacate region (shared by the hollow space of container 94
Ratio) consistent mode moves, and from what input unit 110 was input into information that sorting finishes and container 94 region is vacated.For example, defeated
Enter and multiple buttons corresponding with the position of dividing plate 96 are set in portion 110, area can be vacated by selecting and press the button input
Domain.Then, the label of the address that have printed delivery destination is taken out from label machine 112 and is pasted on delivery container 95.
Container 94 after sorting and delivery container 95 are removed via relief area 102b to station 102 is taken out of by conveyer (not shown)
Send, transported container 94 to support with transport carriage, by delivery container 95 to the conveyance of delivery region.
Figure 11 represents the control system of sorting system 2.Controller 30 stores following file in memorizer 116～120,
Stock file stores the stock of sorting system 2, container file store the ID of each container 94, position, storage commodity inventory with
And vacate region.File of stocking up is stored in the inventory of trader's product, the inventory of file storage delivery commodity of delivering.Sorting file is to every
Individual order stores the inventory of delivery commodity, commodity to the progress of the distribution, delivery destination and sorting of container 94.
Conveyance control 124 in controller 30 distributes the conveyance instruction to many bridge-type transport carriages 10, controls container 94,95
Conveyance.Wherein, in the case where bridge-type transport carriage 10 can disposably transport multiple containers 94, preferably multiple containers 94 are united
One to sorting unit is transported.Controller 30 is communicated with the terminal 108 of sorting unit, by the commodity of sorting and the bar of container 94
The ID such as shape code set up corresponding relation and show in the display, while sending the address of delivery destination.And receive from defeated
Enter the input in portion 110, update container file and sorting file.Terminal of stocking up 126 is arranged on region of stocking up, and is made commodity of stocking up
Inventory, controller 30 updates accordingly file of stocking up.Delivery terminal 128 is arranged on delivery region, is made delivery commodity and delivery mesh
Ground inventory, controller 30 update accordingly delivery file.
Figure 12 represents the algorithm of sorting.In step 1, using transport carriage 10 by container 94 from support 20 to moving into station
101 conveyances, in relief area, 101b is standby arrives to sorting order.When the order of sorting has been come, staff is made with conveyer
Container 94 is moved from relief area 101b to workbench 104, while delivery container 95 is placed on workbench 104 (step 2).So
Afterwards, staff reads the ID (bar code) of container 94, and bar code is sent to controller 30, and the inventory for returning sorting commodity shows
Show in display 109 (step 3).Staff sorts from container 94 according to the display of display to delivery container 95, completes
After move dividing plate 96, region is vacated from the setting of input unit 110, while being input into the information (step 4) that completes of sorting.
When input sorting is completed, container 94 is transported (step 5) via relief area 102b to station 102 is taken out of.To send out
In the case that the sorting of goods container 95 is completed, i.e., in the situation without the commodity for sorting from other containers 94 and being packaged with
Under, the label of delivery destination is pasted on delivery container 95, transport (step to station 102 is taken out of via relief area 102b
6、7).Container 94,95 is by transport carriage 10 to the conveyance of the conveyance such as delivery region 24, support 20 destination.
Figure 13 represents the lifting platform of the sorting unit of variation and bridge-type transport carriage.Represent identical with Figure 10 identical labellings
Structure, except following identical with embodiment in addition to some.For example be respectively provided with lifting platform multilamellar be configured with side by side move into it is defeated
The delivery board 130 for sending machine 132 and the flat board 134,135 for possessing shifting apparatus 68.Also, delivery board 130 is preferably by not shown
Jin unloading devices are moved between the going-back position that the solid line of figure is represented and dashdotted progressive position.In sorting workbench
Be provided with 104 by container 94 from move into station 101 to take out of station 102 (mounting space) conveyance container conveyance conveying
Machine.Also, it is provided with to possess in the driving path side of the bridge-type transport carriage of workbench 104 and multiple arranged side by side takes out of conveyer
141 sorting purpose floor 140.In addition, 142 are commodity one by one, flat board 134,135,130 both can respectively arrange 1 layer, also might be used
It is different with the number of plies of flat board 130 with flat board 134,135.Also, in front and back in a pair of carrying devices 68,68 which as move into use, which
Individual conduct is taken out of with can suitably change.
Container 94 is moved into via moving into station 101, relief area 101b to workbench 104, staff by commodity 142 to
The conveyer 141 that takes out of on sorting purpose floor 140 is loaded.Wherein, if conveyer 141 will be taken out of by each delivery destination
Divide, then can simultaneously carry out the sorting to multiple delivery destinatioies.When sorting is completed, delivery board 130 is set to proceed to Figure 13
Dashdotted position, from take out of conveyer 141 to move into conveyer 132 transfer commodity 142.And the container for completing sorting
94 transfer to flat board 135, are transported the retrogressing of delivery board 130.In fig. 13, station 102 and sorting purpose floor 140 are taken out of
Station is taken out of in equivalent to right.Also, can not also arrange on sorting purpose floor 140 and take out of conveyer
140, and for example transfer commodity to conveyer 132 is moved into by the artificial of staff.Bridge-type transport carriage both can be in sorting
Period it is standby can not also be standby.Also, delivery region 24 by move into conveyer 132 to each delivery destination container
Input commodity.
There are following characteristics in embodiment.
As long as 1) bridge-type transport carriage 10 just can be with due to supporting the vertical load being applied on column 66, thus with it is existing
Some stakcer cranes are compared being capable of lightweight.
2) by using linear motor, apply the power of travel direction will not to track 6.Therefore, track 6 also can be reduced
Weight.
3) except the conveyer etc. of sorting unit 100, all of conveyance can be carried out using bridge-type transport carriage 10.
4) it is efficient therefore, it is possible to carry out due to all regions that bridge-type transport carriage 10 can be entered in automated warehouse 2
Conveyance.
5) electric power can be saved by keeping out of the way passage 80, makes the maintenance of bridge-type transport carriage 10 become to hold by maintenance platform 81
Easily.
6) sorting system 2 is rich in autgmentability.
7) various bridge-type transport carriages 10,10 ＇ can be made to travel on common track 6, and bridge-type transport carriage 10,
Travel unit 51 can be shared between 10 ＇.
8) such as on the lifting platform 62 of bridge-type transport carriage 10 arrange multi-layer planar 92, then due to can improve conveyance efficiency,
Length over ends of body will not be elongated, therefore branch becomes easy with converging.Enable in particular to concentrate in the container of sorting and move into sorting unit
100th, it is placed in relief area 101b etc..And container 94 after sorting etc. can be concentrated from taking out of station 102 and be taken out of.
9) by the sorting unit and lifting platform of Figure 13, the sorting to multiple delivery destinatioies can simultaneously be carried out.
10) sort efficiency of the existing tactics of human sea being made up of go-cart and staff can be improved, and can be by
The complicated sorting system for being combined with various carrying devices and sorting equipment is improved to simple, efficient system.
Although describing the example that staff is sorted in embodiment, in the situation that robot can be utilized to replace
Under, it is also possible to sorted using robot.And, although bridge-type transport carriage is described as transport carriage, but be not limited to
This.Although sorting area 22 to be arranged on the periphery side of the driving path of bridge-type transport carriage 10 in embodiment, but it is also possible to
It is arranged on inner circumferential side.
The commodity of multiple delivery containers 95 can also be put together the commodity of 1 order volume that gathers together enough, in this case, no
Need to the adhesive label of container 95.
The explanation of reference, 2- sorting systems；4- automated warehouses；6- top rails；7- bypass passageways；8th, 9- branches converge
Conjunction portion；10- bridge-type transport carriages；12nd, 14- passages；20- supports；21- tops；22- sorting areas；24- deliveries region；26- stocks up
Region；27- pillars；28- separates opening；29- shelf stands；30- controllers；50- permanent magnets；51- travel units；52- lines
Coil unit；53- steps on tread；54- wheels 55,64- guide rolls；56th, 70- guide rails；57- axles；58- carriers；59- elevator；60- hangs
Hang holding member；62- lifting platforms；66- columns；67- switch units；68- shifting apparatus；72- connection members；80- keeps out of the way passage；
81- maintenance platforms；92- flat boards；94- containers；95- delivery containers；96- dividing plates；100- sorting units；101- moves into station；
102- takes out of station；104- workbench；106- barcode readers；108- terminals；109- display；110- input units；112-
Label machine；116～120- memorizeies；122- input and output；124- conveyance controls；126- stocks up terminal；128- deliveries are eventually
End；130- delivery boards；132- moves into conveyer；134th, 135- flat boards；140- sortings purpose floor (taking out of station)；141- takes out of
Conveyer；142- commodity.
Claims (8)
1. a kind of system for sorting commodity according to order, the multiple containers from keeping on support, has：
Along can freely branch and converge driving path traveling transport carriage,
Along multiple supports that above-mentioned driving path is arranged,
Arrange along above-mentioned driving path, and station and transport carriage are moved into goods with what transport carriage was moved into container
The multiple sorting units for taking out of station that case and the commodity for having sorted are taken out of,
Along the delivery region that the periphery of above-mentioned driving path is arranged, and
Control above-mentioned transport carriage make storage have the container of order commodity from support to move into station conveyance, make the good commodity of sorting to
The conveyance of delivery region, make the controller that the container after sorting commodity transports to support.
2. sorting system as claimed in claim 1, it is characterised in that：Periphery along above-mentioned driving path is additionally provided with and stocks up
Region,
Container is constituted into controller noted above from region of stocking up in the way of support conveyance to control above-mentioned transport carriage.
3. sorting system as claimed in claim 1 or 2, it is characterised in that：Controller noted above is storing vacating for each container
The mode in region is constituted, and the input unit for vacating region after above-mentioned sorting unit is provided with sorting.
4. sorting system as claimed in claim 3, it is characterised in that：Storage is provided with the way of it can move freely in container
The region of commodity and vacate the dividing plate between region, be input into being input into the position of dividing plate vacate region by way of constituted
State the input unit for vacating region.
5. the sorting system as described in any one of Claims 1 to 4, it is characterised in that：Above-mentioned driving path is by being arranged on
The track at the top of the building of sorting system is constituted,
Above-mentioned transport carriage is made up of following part：Along above-mentioned rail running and with the lifting for driving suspension holding member
The chassis of machine, with the column being arranged on vertically downwardly on above-mentioned chassis, and protects by the guiding of above-mentioned column, by above-mentioned suspension
Hold component lifting and the lifting platform with shifting apparatus.
6. sorting system as claimed in claim 5, it is characterised in that：Possess above-mentioned shifting apparatus on above-mentioned lifting platform, along
Vertical direction is provided with polylith and can freely load the flat board of container.
7. sorting system as claimed in claim 5, it is characterised in that：Travel direction along above-mentioned transport carriage is in above-mentioned lifting
The central part of platform is arranged in parallel with multiple stage the commodity for having sorted are received from above-mentioned sorting unit moves into conveyer, and above-mentioned
Move into conveyer before and after be provided with container moved into shifting apparatus that station moves into and container is taken out of into work from above-mentioned to above-mentioned
The shifting apparatus that position is taken out；
Above-mentioned sorting unit is also equipped with：
Possess the workbench from the above-mentioned container conveyance conveyer for moving into station conveyance container,
It is arranged on the above-mentioned driving path side of above-mentioned workbench and takes out of the commodity for having sorted to above-mentioned conveyer of moving into
Multiple stage it is arranged side by side take out of conveyer, and
Positioned at the mounting space of the container of the outlet side of the conveyer of above-mentioned container conveyance；
It is above-mentioned take out of conveyer and above-mentioned mounting space and constitute above-mentioned take out of station.
8. a kind of method for sorting, by multiple containers of the sorting system from keeping on support commodity, above-mentioned sorting system are sorted
Possess：
Along can freely branch and converge driving path traveling transport carriage,
Along multiple supports that above-mentioned driving path is arranged,
Arrange along above-mentioned driving path, and station and transport carriage are moved into goods with what transport carriage was moved into container
The multiple sorting units for taking out of station that case and the commodity for having sorted are taken out of,
Along the delivery region that the periphery of above-mentioned driving path is arranged, and
Control the controller of above-mentioned transport carriage；
The method performs following steps：
Transport carriage is controlled using controller noted above, storage is had into the container of order commodity from support to the step for moving into station conveyance
Suddenly,
By above-mentioned sorting unit from container order sorting commodity the step of, and
Transport carriage is controlled using controller noted above, the commodity for having sorted are transported, will sort the goods after commodity to delivery region
Case to support transport the step of.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014171757 | 2014-08-26 | ||
| JP2014-171757 | 2014-08-26 | ||
| PCT/JP2015/067147 WO2016031351A1 (en) | 2014-08-26 | 2015-06-15 | Picking system and picking method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106660705A true CN106660705A (en) | 2017-05-10 |
| CN106660705B CN106660705B (en) | 2019-03-08 |
Family
ID=55399256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580043925.7A Expired - Fee Related CN106660705B (en) | 2014-08-26 | 2015-06-15 | Sorting system and method for sorting |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US10358291B2 (en) |
| JP (1) | JP6315097B2 (en) |
| KR (1) | KR101940608B1 (en) |
| CN (1) | CN106660705B (en) |
| TW (1) | TWI642611B (en) |
| WO (1) | WO2016031351A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235276A (en) * | 2017-06-05 | 2017-10-10 | 北京京东尚科信息技术有限公司 | Goods method for carrying and device |
| CN108438705A (en) * | 2018-04-09 | 2018-08-24 | 杭州慧仓信息科技有限公司 | Shuttle with more buffering position chain elevating mechanisms sorts library system |
| CN109725616A (en) * | 2018-12-29 | 2019-05-07 | 广州远联物流服务有限公司 | A kind of automatic guided vehicle dispatching method and device based on intelligent repository |
| CN110816383A (en) * | 2019-11-15 | 2020-02-21 | 上海海洋大学 | Goods taking track system of refrigerator car |
| CN111806939A (en) * | 2019-04-12 | 2020-10-23 | 江苏华章物流科技股份有限公司 | Global scheduling method, warehousing method and system suitable for suspension chain sorting system |
| TWI745604B (en) * | 2017-07-24 | 2021-11-11 | 日商村田機械股份有限公司 | Automatic warehouse system and control method of automatic warehouse system |
| CN114455234A (en) * | 2017-07-20 | 2022-05-10 | 株式会社大福 | Transport vehicle and transport facility |
| CN114667260A (en) * | 2019-11-12 | 2022-06-24 | 村田机械株式会社 | Suspension type conveying vehicle and storage system |
| CN118270476A (en) * | 2024-06-03 | 2024-07-02 | 江苏润和包装有限公司 | Tin printing transmission buffer device |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016030783A1 (en) * | 2014-08-27 | 2016-03-03 | Gdm S.P.A. | Device for forming and applying at least one pair of accessory elements on a continuous band of absorbent material and machine for making absorbent sanitary articles comprising the device |
| GB2560448A (en) * | 2015-09-25 | 2018-09-12 | Walmart Apollo Llc | Method and apparatus to facilitate a planned automated route through a warehouse |
| DE102016107807A1 (en) | 2016-04-20 | 2017-10-26 | Ssi Schäfer Automation Gmbh | Storage and order picking system for the removal of handling units |
| JP6766584B2 (en) * | 2016-10-19 | 2020-10-14 | 株式会社ダイフク | Goods transport equipment |
| CA3056894C (en) | 2017-03-20 | 2023-10-03 | Berkshire Grey, Inc. | Systems and methods for processing objects including transport vehicles |
| JP2018188236A (en) * | 2017-04-28 | 2018-11-29 | 村田機械株式会社 | Picking system |
| JP6915366B2 (en) * | 2017-04-28 | 2021-08-04 | 村田機械株式会社 | Tracked carrier system |
| SG11201912679WA (en) * | 2017-06-30 | 2020-01-30 | Murata Machinery Ltd | Transport system and transport method |
| JP6822567B2 (en) * | 2017-06-30 | 2021-01-27 | 村田機械株式会社 | Transport system and transport method |
| CN109818226B (en) * | 2017-11-20 | 2020-03-03 | 天津京东深拓机器人科技有限公司 | Electricity taking device of rail shuttle |
| US11046518B2 (en) | 2019-01-14 | 2021-06-29 | Mujin, Inc. | Controller and control method for robot system |
| JP6738112B2 (en) * | 2019-01-14 | 2020-08-12 | 株式会社Ｍｕｊｉｎ | Robot system control device and control method |
| KR102278857B1 (en) * | 2019-09-05 | 2021-07-20 | 크래프트아이디 주식회사 | Digital peaking system |
| CN111014052B (en) * | 2019-12-12 | 2023-08-15 | 苏州金峰物流设备有限公司 | Multi-layer grid intersection cross belt sorting equipment and sorting method thereof |
| KR102253360B1 (en) * | 2020-08-06 | 2021-05-20 | 쿠팡 주식회사 | Electronic apparatus and information providing method thereof |
| NO346544B1 (en) * | 2020-11-30 | 2022-09-26 | Autostore Tech As | A remotely operated picking vehicle, an automated storage and retrieval system, and a method of handling products in the system |
| CN115432340A (en) * | 2021-06-02 | 2022-12-06 | 江苏华章物流科技股份有限公司 | Three-dimensional sorting station, sorting method and sorting ex-warehouse method |
| DE102021211570A1 (en) * | 2021-10-13 | 2023-04-13 | Dürkopp Fördertechnik GmbH | Device and method for suspended conveying of objects |
| WO2024028777A2 (en) * | 2022-08-01 | 2024-02-08 | Dematic Corp. | Linear drive conveyor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63242809A (en) * | 1987-03-27 | 1988-10-07 | Murata Mach Ltd | Article storage |
| US4977996A (en) * | 1988-04-05 | 1990-12-18 | Stockrail Limited | Warehousing systems |
| JP2001322720A (en) * | 2000-05-16 | 2001-11-20 | Tcm Corp | Container loading and unloading method and its sytem |
| CN1817757A (en) * | 2006-03-27 | 2006-08-16 | 中邮物流有限责任公司 | Automatic goods-picking and checking system and method for commodities flow |
| CN101676039A (en) * | 2008-09-19 | 2010-03-24 | 翔风技术有限公司 | Apparatus and method for classifying object to be transported |
| CN103764523A (en) * | 2011-05-17 | 2014-04-30 | 瑞仕格公司 | Method for storing and/or order-picking product units |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3792785A (en) * | 1973-01-26 | 1974-02-19 | Fmc Corp | Automated storage and freight terminal apparatus |
| JPS5435390B1 (en) * | 1974-03-20 | 1979-11-02 | ||
| JPS5340982A (en) * | 1976-09-22 | 1978-04-13 | Toyo Kanetsu Kk | Automatic solid storage device |
| EP0235488B1 (en) * | 1986-09-19 | 1990-01-24 | REDOUTE CATALOGUE Société Anonyme: | Robotic handling system |
| JPS6337006A (en) * | 1986-07-31 | 1988-02-17 | Daifuku Co Ltd | Article sorting device |
| JPH0780526B2 (en) | 1988-08-05 | 1995-08-30 | 株式会社ダイフク | Receiving system for bucket-based automated warehouse |
| JP3589336B2 (en) * | 1997-02-03 | 2004-11-17 | 株式会社ダイフク | Article transfer device |
| US7991505B2 (en) | 2003-08-29 | 2011-08-02 | Casepick Systems, Llc | Materials-handling system using autonomous transfer and transport vehicles |
| US8115039B2 (en) * | 2005-03-28 | 2012-02-14 | Shell Oil Company | Catalytic distillation process for primary haloalkanes |
| DE102007005561B4 (en) * | 2007-01-24 | 2009-11-26 | SSI Schäfer Noell GmbH Lager- und Systemtechnik | Picking system with shelf transport unit and method for operating such a system |
| JP2009280294A (en) | 2008-05-19 | 2009-12-03 | Yamato Logistics Co Ltd | Article transport system |
| JP5776934B2 (en) | 2011-09-02 | 2015-09-09 | 株式会社ダイフク | Article processing equipment |
-
2015
- 2015-06-15 JP JP2016545009A patent/JP6315097B2/en active Active
- 2015-06-15 CN CN201580043925.7A patent/CN106660705B/en not_active Expired - Fee Related
- 2015-06-15 US US15/502,256 patent/US10358291B2/en not_active Expired - Fee Related
- 2015-06-15 WO PCT/JP2015/067147 patent/WO2016031351A1/en active Application Filing
- 2015-06-15 KR KR1020177008125A patent/KR101940608B1/en active IP Right Grant
- 2015-08-13 TW TW104126379A patent/TWI642611B/en not_active IP Right Cessation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63242809A (en) * | 1987-03-27 | 1988-10-07 | Murata Mach Ltd | Article storage |
| US4977996A (en) * | 1988-04-05 | 1990-12-18 | Stockrail Limited | Warehousing systems |
| JP2001322720A (en) * | 2000-05-16 | 2001-11-20 | Tcm Corp | Container loading and unloading method and its sytem |
| CN1817757A (en) * | 2006-03-27 | 2006-08-16 | 中邮物流有限责任公司 | Automatic goods-picking and checking system and method for commodities flow |
| CN101676039A (en) * | 2008-09-19 | 2010-03-24 | 翔风技术有限公司 | Apparatus and method for classifying object to be transported |
| CN103764523A (en) * | 2011-05-17 | 2014-04-30 | 瑞仕格公司 | Method for storing and/or order-picking product units |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235276A (en) * | 2017-06-05 | 2017-10-10 | 北京京东尚科信息技术有限公司 | Goods method for carrying and device |
| CN114455234B (en) * | 2017-07-20 | 2023-08-11 | 株式会社大福 | Transport vehicle and transport apparatus |
| CN114455234A (en) * | 2017-07-20 | 2022-05-10 | 株式会社大福 | Transport vehicle and transport facility |
| TWI745604B (en) * | 2017-07-24 | 2021-11-11 | 日商村田機械股份有限公司 | Automatic warehouse system and control method of automatic warehouse system |
| CN108438705A (en) * | 2018-04-09 | 2018-08-24 | 杭州慧仓信息科技有限公司 | Shuttle with more buffering position chain elevating mechanisms sorts library system |
| CN109725616A (en) * | 2018-12-29 | 2019-05-07 | 广州远联物流服务有限公司 | A kind of automatic guided vehicle dispatching method and device based on intelligent repository |
| CN109725616B (en) * | 2018-12-29 | 2020-10-30 | 广州远联物流服务有限公司 | Intelligent warehouse-based unmanned carrier scheduling method and device |
| CN111806939A (en) * | 2019-04-12 | 2020-10-23 | 江苏华章物流科技股份有限公司 | Global scheduling method, warehousing method and system suitable for suspension chain sorting system |
| CN111806939B (en) * | 2019-04-12 | 2021-08-24 | 江苏华章物流科技股份有限公司 | Global scheduling method, warehousing method and system suitable for suspension chain sorting system |
| CN114667260A (en) * | 2019-11-12 | 2022-06-24 | 村田机械株式会社 | Suspension type conveying vehicle and storage system |
| CN110816383A (en) * | 2019-11-15 | 2020-02-21 | 上海海洋大学 | Goods taking track system of refrigerator car |
| CN118270476A (en) * | 2024-06-03 | 2024-07-02 | 江苏润和包装有限公司 | Tin printing transmission buffer device |
| CN118270476B (en) * | 2024-06-03 | 2024-09-17 | 江苏润和包装有限公司 | Tin printing transmission buffer device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20170044727A (en) | 2017-04-25 |
| CN106660705B (en) | 2019-03-08 |
| TW201609510A (en) | 2016-03-16 |
| US10358291B2 (en) | 2019-07-23 |
| JPWO2016031351A1 (en) | 2017-07-06 |
| US20170233188A1 (en) | 2017-08-17 |
| TWI642611B (en) | 2018-12-01 |
| JP6315097B2 (en) | 2018-04-25 |
| WO2016031351A1 (en) | 2016-03-03 |
| KR101940608B1 (en) | 2019-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106660705A (en) | Picking system and picking method | |
| CN106470919B (en) | Sorting system and method for sorting | |
| JP6521063B2 (en) | Automatic warehouse and suspension type stacker crane | |
| JP6279730B2 (en) | Order procurement method by preparing storage unit at sorting station | |
| ES2763834T3 (en) | Storage device for stackable containers | |
| US20110106295A1 (en) | Warehouse system and method for operating the same | |
| KR101851142B1 (en) | Freight transporting system using subway | |
| JP2019505454A (en) | Order procurement by making storage units available from the storage facility in the desired order at the sorting station | |
| JP2016537282A (en) | Order procurement method by making the storage units available from the storage facility in the desired order in the packaging station | |
| CN112351946B (en) | A warehouse and picking system and a method for picking ordered goods from hanging bags and other stowage aids | |
| KR20200022336A (en) | Automated storage and retrieval system | |
| JP2019172448A (en) | Physical distribution system | |
| JP2010052878A (en) | Picking system | |
| CN112543946B (en) | Storage and sorting system and sorting method with improved transfer of goods between two storage areas | |
| JP6421875B2 (en) | Collection system and collection method | |
| JP6503868B2 (en) | Picking system | |
| JP6657661B2 (en) | Automatic warehouse system | |
| ES2923939T3 (en) | Procedure for removing goods from a storage device to fulfill an order | |
| JP2015020861A (en) | Sorting facility |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190308 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |